TeamAAS-2.5/TeamAAS.Base/TeamAAS.Global/Devices/MotionContracts.cs

using System;
using System.Collections.Generic;

namespace TeamAAS.Global.Devices
{
    /// <summary>轴状态快照（流程/状态栏批量读取用）。</summary>
    public sealed class AxisStatus
    {
        public int Index { get; set; }
        public string Name { get; set; }
        public double Position { get; set; }
        public double Velocity { get; set; }
        public bool IsMoving { get; set; }
        public bool IsHomed { get; set; }
        public bool IsEnabled { get; set; }
        public bool PositiveLimit { get; set; }
        public bool NegativeLimit { get; set; }
        public bool Alarm { get; set; }
    }

    /// <summary>
    /// 运动控制卡统一契约：索引式 API（流程层）+ 轴对象（调试层）+ 插补/IO。
    /// 品牌适配器（仿真/雷赛/汇川 IMC60G 等）实现本接口后注册进 MotionManager。
    /// </summary>
    public interface IMotionCard : IConnectableDevice
    {
        int AxisCount { get; }

        // --- 流程层：索引 API ---
        bool SetEnable(int axis, bool enable);
        bool Home(int axis, int mode = 0);
        bool IsHomed(int axis);
        bool MoveAbsolute(int axis, double position, double velocity);
        bool MoveRelative(int axis, double distance, double velocity);
        bool JogStart(int axis, int direction, double velocity);
        bool JogStop(int axis);
        /// <summary>平滑停止（axis=-1 表示全部轴）。</summary>
        bool Stop(int axis = -1);
        AxisStatus GetAxisStatus(int axis);
        List<AxisStatus> GetAllAxisStatus();

        // --- 调试层：轴对象 ---
        IAxis GetAxis(int axisNo);
        IList<IAxis> GetAxes();

        // --- 多轴协同 ---
        bool MoveLinear(double[] targetPositions, double velocity);
        bool MoveArc(double[] centerPoint, double[] targetPositions, double velocity);
        /// <summary>急停全部轴。</summary>
        bool EmergencyStop();

        // --- 板载 IO（无 bank 时按本地端子）---
        bool ReadDI(int portIndex);
        bool WriteDO(int portIndex, bool value);

        event EventHandler<MotionConnectionStateChangedEventArgs> ConnectionStateChanged;
        event EventHandler<MotionErrorEventArgs> ErrorOccurred;
    }

    /// <summary>运动卡 IO 分区：本地端子板与 EtherCAT 扩展点号相互独立。</summary>
    public enum MotionIoBank
    {
        Local = 0,
        EtherCat = 1
    }

    /// <summary>运动卡本地 / EtherCAT 数字量 IO。</summary>
    public interface IMotionIoHost
    {
        bool CanSimulateDi { get; }
        int GetDiCount(MotionIoBank bank);
        int GetDoCount(MotionIoBank bank);
        bool ReadDI(MotionIoBank bank, int index);
        bool ReadDO(MotionIoBank bank, int index);
        bool WriteDO(MotionIoBank bank, int index, bool value);
        bool WriteDI(MotionIoBank bank, int index, bool value);
    }

    /// <summary>
    /// 卡级安全互锁：急停下使能并禁止使能/运动；停止信号禁止运动。
    /// </summary>
    public interface IMotionSafetyHost
    {
        bool IsEstopActive { get; }
        bool IsStopActive { get; }
        bool AllowEnable(out string reason);
        bool AllowMotion(out string reason);
        event EventHandler SafetyChanged;
    }

    /// <summary>
    /// 仿真卡时钟。点到点应一次拨完剩余行程；超时只用于真实等待（点动/硬件），不要和仿真行程绑在同一循环。
    /// </summary>
    public interface IMotionSimulation
    {
        void Simulate(double deltaSeconds);
        /// <summary>把所有点到点运动按剩余路程/速度一次仿真到结束。点动保持运动中。</summary>
        void FinishDiscreteMoves();
    }

    /// <summary>
    /// IO 卡（如 GR20T-ECT-1616ETN）统一契约。
    /// </summary>
    public interface IIOCard : IConnectableDevice
    {
        int InputCount { get; }
        int OutputCount { get; }
        bool[] ReadAllInputs();
        bool[] ReadAllOutputs();
        bool WriteOutput(int index, bool value);
        bool WriteOutputs(bool[] values);
    }
}